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检索条件"任意字段=3rd Workshop on Model-Driven Robot Software Engineering, MORSE 2016"

共 23 条记录，以下是1-10 订阅

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Learning safety-aware policy with imitation learning for context-adaptive navigation 1

Learning safety-aware policy with imitation learning for con...

引用

Joint 1st International workshop on the Semantic Descriptor, Semantic modeling and Mapping for Humanlike Perception and Navigation of Mobile robots toward Large Scale Long-Term Autonomy and the 3rd International workshop on the Applications of Knowledge Representation and Semantic Technologies in robotics, SDMM 2019 and AnSWeR 2019

作者： Xiong, Bo Wang, Fangshi Yu, Chao Qiao, Fei Yang, Yi Wei, Qi Liu, Xin-Jun School of Software Engineering Beijing Jiaotong University Beijing China Department of Mechanical Engineering Tsinghua University Beijing China Department of Electronic Engineering Tsinghua University Beijing China

This paper presents an Imitation Learning (IL) based visual navigation system, which could guide the robots navigating from some start position to a goal location without any explicit map. We pay close attention to the safety issue due to partially-observability and data distribution mismatching—when the robot meets some incomplete or unfamiliar states, it probably performs an unsafe action, making it hard to work on lifelong robot navigation. In this paper, a sequence-to-sequence (Seq2seq) deep neural network is built to enhance the agent’s context-awareness in partially-observable conditions and boost the model’s adaptability to unseen scenarios. Additionally, we propose Uncertainty-Aware Imitation Learning (UAIL) by explicitly estimating model uncertainty and actively request experts for labeling samples according to the uncertainty with On-Policy IL. Simulations demonstrated that the combined method—Safety-Aware Imitation Learning (SAIL) in goal-driven visual navigation achieves 35.6% shorter expected moving steps and 22% fewer collisions compared with current counterparts. With the learned safer policy, SAIL had be successfully adapted to unseen environments with minimal navigation performance loss. Copyright © 2019 by the paper’s authors.

关键词： robots

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software Technologies: Applications and Foundations, STAF 2016 Collocated workshops: 5th International Symposium on Data to models and Back, DataMod 2016, 7th International workshop on Graph Computation models, GCM 2016, 3rd International workshop on Human-Oriented Formal Methods, HOFM 2016, 2nd International workshop on model-driven engineering, Logic and Optimization, MELO 2016, 3rd International workshop on software engineering Methods in Spreadsheets, SEMS 2016 and 1st International workshop on Formal to Practical software Verification and Composition, VeryComp 2016

Software Technologies: Applications and Foundations, STAF 20...

引用

software Technologies: Applications and Foundations, STAF 2016 Collocated workshops: 5th International Symposium on Data to models and Back, DataMod 2016, 7th International workshop on Graph Computation models, GCM 2016, 3rd International workshop on Human-Oriented Formal Methods, HOFM 2016, 2nd International workshop on model-driven engineering, Logic and Optimization, MELO 2016, 3rd International workshop on software engineering Methods in Spreadsheets, SEMS 2016 and 1st International workshop on Formal to Practical software Verification and Composition, VeryComp 2016

ISBN: (纸本)9783319502298

The proceedings contain 36 papers. The special focus in this conference is on DataMod, GCM, HOFM, MELO, SEMS and VeryComp. The topics include: Separating topological noise from features using persistent entropy;an accelerated MapReduce-based K-prototypes for big data;refinement mining;using data to sift plausible models;towards platform independent database modelling in enterprise systems;a personal data model for musical preferences;a high-level model checking language with compile-time pruning of local variables;probabilistic modelling of station locations in bicycle-sharing systems;on the definition of parallel independence in the algebraic approaches to graph transformation;SPO-rewriting of constrained partial algebras;attributed graph transformation via rule schemata;church-Rosser theorem;visual notation and patterns for abstract state machines;Spatio-temporal models for formal analysis and property-based testing;model-based generation of natural language specifications;formal model-based development in industrial automation with reactive blocks;towards model-based optimisation;using domain knowledge explicitly;context-aware design of reflective middleware in the internet of everything and pure edge computing platform for the future internet.

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model-driven structural and statistical testing of robot cooperation and reconfiguration 16

Model-driven structural and statistical testing of robot coo...

引用

3rd workshop on model-driven robot software engineering, morse 2016

作者： Saglietti, Francesca Meitner, Matthias University of Erlangen-Nuremberg Martensstr. 3 Erlangen91058 Germany

ISBN: (纸本)9781450342599

This article proposes a model-based approach to structural and statistical testing of cooperating and reconfigurable autonomous robots. Based on Coloured Petri Net models of cooperative behaviour, it summarizes the main results achieved in the context of two European ARTEMIS projects. As an example, a CPN model of autonomous and reconfigurable trolleys moving within a common environment is considered. The results allow for both a qualitative and a quantitative reliability analysis. © 2016 ACM.

关键词： robots

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Domain-specific modeling for robotics - From language construction to ready-made controllers and end-user applications 16

Domain-specific modeling for robotics - From language constr...

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3rd workshop on model-driven robot software engineering, morse 2016

作者： Djukic, Verislav Popovic, Aleksandar Tolvanen, Juha-Pekka Djukic Software GmbH Gärtnerstr 17 NürnbergD-90408 Germany University of Montenegro Faculty of Science Podgorica Montenegro MetaCase Ylistönmäentie 31 JyväskyläFI-40500 Finland

ISBN: (纸本)9781450342599

We present an approach and tools implemented for model-driven development of robotics using Domain-specific modeling (DSM). Special attention is paid to the automatic generation of robot control logic, and facilitation of the validation and certification of software components. We describe the approach using practical examples on how to construct and use domain-specific languages for modeling (1) topological properties of a robot arm, (2) robot controllers, (3) robot actions and activities as well as (4) generating and verifying end-user applications from the models. Additionally, we describe on how to build DSM tools for visual debugging and how to include generation of documents in a model-level debugging scenario. Using fast code generators and adaptive run-time systems our tool chain supports generation, incremental update and execution of native code for various hardware platforms and operating systems "on hot". Our approach is applicable to both industrial and human-like robots and is verified by developing practical robot applications. © 2016 ACM.

关键词： Problem oriented languages

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Stochastic error propagation analysis of model-driven space robotic software implemented in simulink 16

Stochastic error propagation analysis of model-driven space ...

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3rd workshop on model-driven robot software engineering, morse 2016

作者： Morozov, Andrey Janschek, Klaus Krüger, Thomas Schiele, André Technische Universität Dresden Nöthnitzer Str. 43 Dresden01187 Germany European Space Agency ESTEC Keplerlaan 1 Noordwijk2201AG Netherlands

ISBN: (纸本)9781450342599

model-driven software development methods are widely used in safety-critical domains including space robotics. TheMATLAB Simulink environment is the common choice of control engineers. This article introduces a new method for a fully automatic transformation of a Simulink model to a dualgraph model for stochastic error propagation analysis. The error propagation analysis provides important inputs for system reliability methods, required by industrial standards such as FTA and FMEA. The dual-graph error propagation model is a mathematical abstraction of key system design aspects that influence error propagation processes: control flow, data flow, and component-level reliability properties. This model helps to estimate the likelihood of error propagation to hazardous system parts and quantify the negative impact of a fault in a particular component on the overall system reliability. In praxis, the manual creation of an error propagation model of a complex system requires a huge effort. The transformation method, introduced in this article, is a fast and promising solution. The method is demonstrated as a part of a stochastic analysis of a real-world model-driven space robotic software. © 2016 ACM.

关键词： Simulink

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model-driven engineering for Multi-Tenant SaaS application development 3

Model-Driven Engineering for Multi-Tenant SaaS application d...

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3rd workshop on CrossCloud Infrastructures and Platforms (CrossCloud)

作者： Jumagaliyev, Assylbek Whittle, Jon Univ Lancaster Sch Comp & Commun Lancaster LA1 4YW England

ISBN: (纸本)9781450342940

Cloud computing allows development of multi-tenant applications by sharing computing and storage resources. Cloud computing and model driven engineering (MDE) approaches can be mutually beneficial. With MDE, developers can focus on designing the structure, functionality and behaviour of software systems without considering specific implementation and platform details. In this poster paper, we examine opportunities of exploiting MDE by analysing variability challenges during a multi-tenant application development.

关键词： multi-tenancy MDE cloud computing variability software engineering

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Intelligent agent-based stimulation for testing robotic software in human-robot interactions 16

Intelligent agent-based stimulation for testing robotic soft...

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3rd workshop on model-driven robot software engineering, morse 2016

作者： Araiza-Illan, Dejanira Pipe, Anthony G. Eder, Kerstin Dept. of Computer Science University of Bristol Bristol United Kingdom Faculty of Engineering Technology Bristol Robotics Laboratory University of the West of England Bristol United Kingdom

ISBN: (纸本)9781450342599

The challenges of robotic software testing extend beyond conventional software testing. Valid, realistic and interesting tests need to be generated for multiple programs and hardware running concurrently, deployed into dynamic environments with people. We investigate the use of Belief- Desire-Intention (BDI) agents as models for test generation, in the domain of human-robot interaction (HRI) in simulations. These models provide rational agency, causality, and a reasoning mechanism for planning, which emulate both intelligent and adaptive robots, as well as smart testing environments directed by humans. We introduce reinforcement learning (RL) to automate the exploration of the BDI models using a reward function based on coverage feedback. Our approach is evaluated using a collaborative manufacture example, where the robotic software under test is stimulated indirectly via a simulated human co-worker. We conclude that BDI agents provide intuitive models for test generation in the HRI domain. Our results demonstrate that RL can fully automate BDI model exploration, leading to very effective coverage-directed test generation. © 2016 ACM.

关键词： Human robot interaction

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robot quarter 4.0: An urban test ground for learning, living, and working with service robots 16

Robot quarter 4.0: An urban test ground for learning, living...

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3rd workshop on model-driven robot software engineering, morse 2016

作者： Liu, Shifu Wiesenhuetter, Sebastian Noennig, Joerg Rainer School of Environmental and Civil Engineering Wissensarchitektur Laboratory of Knowledge Architecture Industrial and Commercial Buildings Design Buerogebaeude Zellescher Weg 17 Germany

ISBN: (纸本)9781450342599

This paper presents the blueprint for an urban quarter where citizens and robots can learn from each other, and co-work. To fully integrate within human social life and environment, robots needs to observe, experience, and adapt to human action. On the other hand, humans need to learn how to co-exist with increasingly intelligent machinery within complex environments, and modify their behavior in accord with this new population. For this purpose, we have designed a plat-form that brings human and robots together in a synergetic and social manner. To enable mutual learning and experiencing, we present the design of a socalled robot Quarter 4.0 as an urban testbed for human-robot coexistence. Developed for a specific site in the city of Offenbach and targeting at real estate development dedicated to modern technology-based work and life style, the concept was abstracted into a generic urban prototype for a Living Lab for technological as well as social investigation. From it specifications for software development, robot engineering, as well as for work organization can be derived from a new (urban) level of a scale Human- Machine-Interaction. © 2016 ACM.

关键词： Machine design

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software technologies: Applications and foundations: STAF 2016 collocated workshops: DataMod, GCM, HOFM, MELO, SEMS, VeryComp Vienna, Austria, july 4–8, 2016 revised selected papers 5th

Software technologies: Applications and foundations: STAF 20...

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作者： Milazzo, Paolo Wimmer, Manuel Varró, Dániel Dipartimento di Informatica Universita di Pisa Pisa Italy Budapest University of Technology and Economics Budapest Hungary Vienna University of Technology Vienna Austria

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Teaching domain-specific language engineering and model-driven software development: A competence-oriented approach 12

Teaching domain-specific language engineering and model-driv...

引用

Joint 12th Educators Symposium and 3rd International workshop on Open Source software for model driven engineering, EduSymp+OSS4MDE 2016

作者： Pfeiffer, Volkhard Department of Electrical Engineering and Computer Science Coburg University of Applied Sciences and Arts PO 1652 Coburg96406 Germany

Teaching and learning domain-specific language (DSL) engineering and model-driven software development (MDSD) concepts are difficult tasks: either it requires a deep understanding of the nature of a domain, students lack it in general or students are exercising only single technical aspects of MDSD, so that they don't see the whole picture and are lost in the model-driven and tool "jungle". This paper explains a competence-oriented approach for model-driven software development course design to reduce the above learning difficulties. The main idea is first to define the course competencies students should have in a precise manner and second to choose an "appropriate" didactic method for each required competency. Two didactic examples are presented: Peer Instructions for MDSD fundamentals and a comprehensive MDSD software project for DSL and transformation competencies, in which students need to develop a complete workflow system for examination regulation issues. At the end we discuss the overall experience with this approach and with the current course settings. Copyright © 2016 held by the author(s).

关键词： Students

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